Package org.robwork.sdurw
Class Transform2Df
- java.lang.Object
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- org.robwork.sdurw.Transform2Df
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public class Transform2Df extends java.lang.Object
A 4x4 homogeneous transform matrix \mathbf{T}\in SE(3)
\mathbf{T} = \left[ \begin{array}{cc} \mathbf{R} \mathbf{d} \\ \begin{array}{ccc}0 0 0\end{array} 1 \end{array} \right]
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Constructor Summary
Constructors Constructor Description Transform2Df()
Default Constructor.
Initializes with 0 translation and Identity matrix as rotationTransform2Df(long cPtr, boolean cMemoryOwn)
Transform2Df(Vector2Df d, Rotation2Df R)
Constructs a homogeneous transform
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description void
delete()
float
get(long row, long column)
static long
getCPtr(Transform2Df obj)
static Transform2Df
identity()
Constructs the identity transformTransform2Df
multiply(Transform2Df bTc)
Calculates \robabx{a}{c}{\mathbf{T}} = \robabx{a}{b}{\mathbf{T}} \robabx{b}{c}{\mathbf{T}}
Vector2Df
multiply(Vector2Df bP)
Calculates \robax{a}{\mathbf{p}} = \robabx{a}{b}{\mathbf{T}} \robax{b}{\mathbf{p}} thus transforming
point \mathbf{p} from frame b to frame a
Vector2Df
P()
Gets the position part \mathbf{d} from \mathbf{T}Rotation2Df
R()
Gets the rotation part \mathbf{R} from \mathbf{T}void
set(long row, long column, float d)
java.lang.String
toString()
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Constructor Detail
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Transform2Df
public Transform2Df(long cPtr, boolean cMemoryOwn)
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Transform2Df
public Transform2Df()
Default Constructor.
Initializes with 0 translation and Identity matrix as rotation
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Transform2Df
public Transform2Df(Vector2Df d, Rotation2Df R)
Constructs a homogeneous transform- Parameters:
d
- [in] \mathbf{d} A 3x1 translation vectorR
- [in] \mathbf{R} A 3x3 rotation matrix
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Method Detail
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getCPtr
public static long getCPtr(Transform2Df obj)
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delete
public void delete()
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identity
public static Transform2Df identity()
Constructs the identity transform- Returns:
- the identity transform
\mathbf{T} = \left[ \begin{array}{ccc} 1 0 0 \\ 0 1 0 \\ 0 0 1 \\ \end{array} \right]
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multiply
public Transform2Df multiply(Transform2Df bTc)
Calculates \robabx{a}{c}{\mathbf{T}} = \robabx{a}{b}{\mathbf{T}} \robabx{b}{c}{\mathbf{T}}
- Parameters:
bTc
- [in] \robabx{b}{c}{\mathbf{T}}- Returns:
- \robabx{a}{c}{\mathbf{T}}
\robabx{a}{c}{\mathbf{T}} = \left[ \begin{array}{cc} \robabx{a}{b}{\mathbf{R}}\robabx{b}{c}{\mathbf{R}} \robabx{a}{b}{\mathbf{d}} + \robabx{a}{b}{\mathbf{R}}\robabx{b}{c}{\mathbf{d}} \\ \begin{array}{ccc} 0 0 0 \end{array} 1 \end{array} \right]
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multiply
public Vector2Df multiply(Vector2Df bP)
Calculates \robax{a}{\mathbf{p}} = \robabx{a}{b}{\mathbf{T}} \robax{b}{\mathbf{p}} thus transforming
point \mathbf{p} from frame b to frame a
- Parameters:
bP
- [in] \robax{b}{\mathbf{p}}- Returns:
- \robax{a}{\mathbf{p}}
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R
public Rotation2Df R()
Gets the rotation part \mathbf{R} from \mathbf{T}- Returns:
- \mathbf{R}
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P
public Vector2Df P()
Gets the position part \mathbf{d} from \mathbf{T}- Returns:
- \mathbf{d}
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toString
public java.lang.String toString()
- Overrides:
toString
in classjava.lang.Object
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get
public float get(long row, long column)
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set
public void set(long row, long column, float d)
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